Power module for use with a surgical instrument

ABSTRACT

A surgical instrument, in at least one form, includes an end effector and a power module. The power module may include a first motion conversion assembly. The first motion conversion assembly includes a first rotary drive and a first axial drive operably coupled to the first rotary drive. The power module may further include a second motion conversion assembly which may include a second rotary drive and a second axial drive operably coupled to the second rotary drive. The power module may further include a motor configured to generate at least one rotational motion to actuate the end effector and a transmission assembly configured to selectively engage the motor with the first rotary drive and the second rotary drive, wherein the motor is concentrically arranged with the first rotary drive and the second rotary drive.

BACKGROUND

The present disclosure relates to surgical instruments. In variousforms, the present disclosure relates to a power module for use withpowered surgical cutting and fastening instruments.

BRIEF DESCRIPTION OF THE DRAWINGS

The features and advantages of this invention, and the manner ofattaining them, will become more apparent and the invention itself willbe better understood by reference to the following description ofembodiments of the invention taken in conjunction with the accompanyingdrawings, wherein:

FIG. 1 is a perspective view of a power module;

FIG. 2 is a perspective view of the power module of FIG. 1 with ahousing partially removed to the side;

FIG. 3 is an exploded view of the power module of FIG. 1;

FIG. 4 is an exploded view of the power module of FIG. 1;

FIG. 5 is a cross sectional view along a longitudinal axis LL of a powermodule including a transmission member engaged with a first rotary drivein a first position;

FIG. 5A is a cross sectional view of the power module in FIG. 5 taken atthe line 5A-5A of FIG. 5;

FIG. 5B is a cross sectional view of the power module in FIG. 5 taken atthe line 5B-5B of FIG. 5;

FIG. 6 is a cross sectional view of the power module in FIG. 5 showing apartially advanced first axial drive;

FIG. 7 is a cross sectional view of the power module in FIG. 5 showing apartially retracted first axial drive;

FIG. 8 is a cross sectional view of the power module in FIG. 5 showingthe transmission member in a neutral position;

FIG. 9 is a cross sectional view of the power module in FIG. 5 showingthe transmission member engaged with a second rotary drive in a secondposition;

FIG. 10 is a cross sectional view of the power module in FIG. 5 showingthe transmission member engaged with a second rotary drive in a secondposition and showing a partially advanced second axial drive;

FIG. 11 is a perspective view of a surgical instrument;

FIG. 12 is an exploded assembly view of the surgical instrument of FIG.11;

FIG. 13 is a cross sectional view of a handle of the surgical instrumentof FIGS. 11 and 12;

FIG. 14 is schematic block diagram of a control circuit of a surgicalinstrument according to certain embodiments described herein;

FIG. 15 is a cross sectional view of a handle of a surgical instrumentaccording to certain embodiments described here; and

FIG. 16 is a partial cross sectional view of the handle of shown FIG.15.

DETAILED DESCRIPTION

Certain exemplary embodiments will now be described to provide anoverall understanding of the principles of the structure, function,manufacture, and use of the devices and methods disclosed herein. One ormore examples of these embodiments are illustrated in the accompanyingdrawings. Those of ordinary skill in the art will understand that thedevices and methods specifically described herein and illustrated in theaccompanying drawings are non-limiting exemplary embodiments and thatthe scope of the various embodiments of the present invention is definedsolely by the claims. The features illustrated or described inconnection with one exemplary embodiment may be combined with thefeatures of other embodiments. Such modifications and variations areintended to be included within the scope of the present invention.

Reference throughout the specification to “various embodiments,” “someembodiments,” “one embodiment,” or “an embodiment”, or the like, meansthat a particular feature, structure, or characteristic described inconnection with the embodiment is included in at least one embodiment.Thus, appearances of the phrases “in various embodiments,” “in someembodiments,” “in one embodiment”, or “in an embodiment”, or the like,in places throughout the specification are not necessarily all referringto the same embodiment. Furthermore, the particular features,structures, or characteristics may be combined in any suitable manner inone or more embodiments. Thus, the particular features, structures, orcharacteristics illustrated or described in connection with oneembodiment may be combined, in whole or in part, with the featuresstructures, or characteristics of one or more other embodiments withoutlimitation. Such modifications and variations are intended to beincluded within the scope of the present invention.

The terms “proximal” and “distal” are used herein with reference to aclinician manipulating the handle portion of the surgical instrument.The term “proximal” referring to the portion closest to the clinicianand the term “distal” referring to the portion located away from theclinician. It will be further appreciated that, for convenience andclarity, spatial terms such as “vertical”, “horizontal”, “up”, and“down” may be used herein with respect to the drawings. However,surgical instruments are used in many orientations and positions, andthese terms are not intended to be limiting and/or absolute.

Various exemplary devices and methods are provided for performinglaparoscopic and minimally invasive surgical procedures. However, theperson of ordinary skill in the art will readily appreciate that thevarious methods and devices disclosed herein can be used in numeroussurgical procedures and applications including, for example, inconnection with open surgical procedures. As the present DetailedDescription proceeds, those of ordinary skill in the art will furtherappreciate that the various instruments disclosed herein can be insertedinto a body in any way, such as through a natural orifice, through anincision or puncture hole formed in tissue, etc. The working portions orend effector portions of the instruments can be inserted directly into apatient's body or can be inserted through an access device that has aworking channel through which the end effector and elongated shaft of asurgical instrument can be advanced.

Referring to FIG. 1, one form of a power module 10 is illustrated. Thepower module 10 can be used to power a surgical instrument such as, forexample, surgical instrument 200 (See FIG. 11) and can be integral withthe surgical instrument 200. Alternatively, the power module 10 can beremovably coupled to the surgical instrument 200. As illustrated inFIGS. 2-4, the power module 10 may include a housing 12, a motorassembly 13, a first motion conversion assembly 16, a second motionconversion assembly 18, and a transmission assembly 20. In at least oneform, the motor assembly 13 may include a motor 14 which can be affixedto the housing 12 and can be activated to generate rotational motionswhich can be selectively transmitted by the transmission assembly 20 tothe first motion conversion assembly 16 or the second motion conversionassembly 18.

Referring primarily to FIG. 2, the first motion conversion assembly 16may include a first rotary drive 22 in operable engagement with a firstaxial drive 24. The first rotary drive 22 can be rotatably seated in thehousing 12 and can be mechanically constrained from translating in anydirection. In addition, the second motion conversion assembly 18 mayinclude a second rotary drive 26 in operable engagement with a secondaxial drive 28. The second rotary drive 26 can also be rotatably seatedin the housing 12 and can be mechanically constrained from translatingin any direction by the housing 12, for example.

Further to the above, referring primarily to FIG. 3, the second rotarydrive 26 can be rotatable about a longitudinal axis L-L defined by themotor 14. As illustrated in FIG. 3, the longitudinal axis L-L may extendlongitudinally through the motor 14 which can be concentrically arrangedwith the second rotary drive 26. The second rotary drive 22 may comprisethe shape of a hollow cylinder wherein the motor 14 can be positioned atleast partially within the second rotary drive 22. In certain forms, themotor 14 may be a DC brushed driving motor having a maximum rotation of,approximately, 25,000 RPM, for example. In other arrangements, the motormay include a brushless motor, a cordless motor, a synchronous motor, astepper motor, or any other suitable electric motor.

Further to the above, referring again to FIG. 3, the first rotary drive22 and the second rotary drive 26 can be concentrically arranged and canbe rotatable about the axis L-L. In certain circumstances, the firstrotary drive 22 and the second rotary drive 26 may comprise the shape ofa hollow cylinder wherein the motor 14 can be positioned, at leastpartially, within the second rotary drive 26 which, in turn, can bepositioned, at least partially, within the first rotary drive 22. Theconcentric arrangement of the motor 14, the first rotary drive 22 andthe second rotary drive 26 within the housing 12 may reduce the size ofthe power module 10.

Referring primarily to FIG. 3, the first rotary drive 22 can bethreadedly engaged with the first axial drive 24 and the second rotarydrive 26 can be threadedly engaged with the second axial drive 28. Forexample, the first rotary drive 22 may include an outer wall 30 and aninner wall 32 which may include an inner thread 34, as illustrated inFIG. 3. In addition, the first axial drive 24 may include a first rack36 which may be operably engaged with the inner thread 34 of the firstrotary drive 22 such that rotation of the first rotary drive 22, forexample in a clockwise direction, about the longitudinal axis L-L maycause the first axial drive 24 to be axially translated relative to thehousing 12 in a distal direction, for example, and rotation of the firstrotary drive 22, in a counterclockwise direction, about the longitudinalaxis L-L may cause the first axial drive 24 to be axially translatedrelative to the housing 12 in a proximal direction, for example.

Further to the above, the second rotary drive 26 may include an innerwall 38 and an outer wall 40 which may include an outer thread 42, asillustrated in FIG. 2. In addition, the second axial drive 28 mayinclude a second rack 44 which may be operably engaged with the outerthread 42 of the second rotary drive 26 such that rotation of the secondrotary drive 26, for example in a clockwise direction, about thelongitudinal axis L-L may cause the second axial drive 28 to be axiallymoved relative to the housing 12 in a distal direction, for example, androtation of the second rotary drive 26, for example in acounterclockwise direction, about the longitudinal axis L-L may causethe second axial drive 28 to be axially moved relative to the housing 12in a proximal direction, for example.

As described above, the motor 14, the first rotary drive 22 and thesecond rotary drive 26 can be concentrically arranged within the housing12, in part, to reduce the size of the power module 10. To accommodatethe motor 14, as illustrated in FIG. 5A, the inner wall 38 of secondrotary drive 26 may possess a diameter D2 that is greater than adiameter D1 of the outer wall 15 of the motor 14. Similarly, toaccommodate the second rotary drive 26, the inner wall 32 of the firstrotary drive 22 may possess a diameter D4 greater than a diameter D3 ofthe outer wall 40 of the second rotary drive 26, as illustrated in FIG.5B.

Referring to FIG. 2, the housing 12 may comprise a first chamber 12Awhich may include a first inner wall 46 and a second chamber 12B whichmay include a second inner wall 48. The first inner wall 46 and thesecond inner wall 48 may each comprise a cylindrical or at leastsubstantially cylindrical shape, as illustrated in FIG. 2. In addition,the first inner wall 46 may comprise an inner diameter D6 (See FIG. 5B)extending from one side of the first inner wall 46 to an opposite sideof the first inner wall 46 and crossing the longitudinal axis LL, andthe second inner wall 48 may comprise an inner diameter D7 (See FIG. 5A)extending from one side of the second inner wall 48 to an opposite sideof the second inner wall 48 and crossing the longitudinal axis LL.

Referring again to FIG. 2, the first rotary drive 22 can be housed inthe first chamber 12A of the housing 12 and can be rotatably supportedtherein. To accommodate the first rotary drive 22, as illustrated inFIG. 5B, the inner diameter D6 of the first inner wall 46 may besufficiently greater than an outer diameter D5 of the first rotary drive22 to provide sufficient clearance for the rotation of the first rotarydrive 22 within the first chamber 12A of the housing 12. For example,the diameter D6 can be 1-3 mm greater than the diameter D5. In certainexamples, the first inner wall 46 of the chamber 12A and/or the outerwall 30 of the first rotary drive 22 may be in contact with each otherand may be each coated with a friction reducing material such as, forexample, Polytetrafluoroethylene (PTFE) or other friction reducingmaterials. In certain examples, the first rotary drive 22 may berotatably supported within the chamber 12A by conventional bearingarrangement(s). Other means for reducing friction between the inner wall46 of the first chamber 12A and the outer wall 30 of the first rotarydrive 22 are contemplated by the present disclosure. Furthermore, asillustrated in FIG. 2, the first chamber 12A may include a proximal wall50 and a distal wall 52 to mechanically constrain the first rotary drive22 from translating in any direction. As illustrated in FIG. 2, theproximal wall 50 and the distal wall 52 can be separated by a distanceL1 which can be slightly greater than a length L2 of the first rotarydrive 22 to allow sufficient clearance for the first rotary drive 22 tobe rotatably supported within the chamber 12A. In addition, the innersurfaces of the walls 50 and 52 can be coated with a friction reducingmaterial such as, for example, Polytetrafluoroethylene (PTFE) or othersuitable materials to reduce friction between these surfaces and thefirst rotary drive 22.

Referring primarily to FIGS. 2-3, the second rotary drive 26 can behoused or at least partially housed in the second chamber 12B and can berotatably supported within the second chamber 12B. The motor 14 can beseated or at least partially seated within the second rotary drive 26,as illustrated in FIG. 2, and the second rotary drive 26 can berotatably supported around the motor 14. As described above, thediameter D2 of the inner wall 38 of second rotary drive 26 may begreater than the diameter D1 of the outer wall 15 of the motor 14. Incertain examples, the diameter D2 may be sufficiently greater than thediameter D1 to provide sufficient clearance for the rotation of thesecond rotary drive 26 relative to the motor 14. For example, thediameter D2 can be 1-3 mm greater than the diameter D1. In certainexamples, the outer wall 15 of the motor 14 and the inner wall 38 of thesecond rotary drive 26 may be in contact with each other and may each becoated with a friction reducing material such as, for example,Polytetrafluoroethylene (PTFE) which may reduce friction between theouter wall 15 of the motor 14 and the inner wall 38 of the second rotarydrive 26 when the second rotary drive 26 is rotated relative to themotor 14. In certain examples, the second rotary drive 26 may rotatablysupported relative to the motor 14 by conventional bearingarrangement(s). Other means for reducing friction between the inner wall38 of the second rotary drive 26 and the outer wall 15 of the motor 14are contemplated by the present disclosure.

In certain circumstances, as illustrated in FIG. 2, at least a proximalportion of the motor assembly 13 and/or a proximal portion of the secondrotary drive 26 may extend into and can be accommodated within the firstrotary drive 22. Furthermore, the first axial drive 24 and/or the secondaxial drive 28 can extend, or at least partially extend, between thefirst rotary drive 22 and the second rotary drive 26, as illustrated inFIG. 2, which may reduce the size of the power module 10. In addition,the first axial drive 24 and/or the second axial drive 28 can be movablysupported through the housing 12. In certain circumstances, the firstaxial drive 24 may include two lateral flanges 54 which may extendlongitudinally along a length of the first axial drive 24 and may bemovably supported within two opposing recesses 56 extendinglongitudinally through opposing walls of the second chamber 12B.Similarly, the second axial drive 28 may include two lateral flanges 58which may extend longitudinally along a length of the second axial drive28 and may be movably supported within two opposing recesses 60extending longitudinally through opposing walls of the second chambers12B.

As described above, the first axial drive 24 can be threadedly engagedwith the first rotary drive 22 such that the first axial drive 24 may beextended or retracted in response to the rotational motions of the firstrotary drive 22. The pitch, angle, and/or, number of starts of thethread 36 of the first rotary drive 22 may be selected to control thedirection, speed, magnitude, and/or duration of the translation of thefirst axial drive 24. Similarly, the second axial drive 28 can bethreadedly engaged with the second rotary drive 26 such that the secondaxial drive 28 may be extended or retracted in response to therotational motions of the second rotary drive 26. The pitch, angle,and/or, number of starts of the thread 42 of the second rotary drive 26may be selected to control the direction, speed, magnitude, and/orduration of the translation of the second axial drive 28.

Referring primarily to FIG. 4, the motor assembly 13 may transmit therotational motions generated by the motor 14 to the transmissionassembly 20. For example, the motor assembly 13 may include a motorcoupling 62 which can be coupled to a motor output shaft 64. Inaddition, the motor coupling 62 can be operably coupled to atransmission shaft 66 which may be configured to transmit the rotationalmotions generated by the motor 14 to the transmission assembly 20. Forexample, as illustrated in FIG. 4, the motor coupling 62 may include ahollow proximal portion which may include a proximal annular wall 68disposed around the longitudinal axis LL. A plurality of axiallyextending splines 70 can be spaced around the annular wall 68 and mayprotrude inwardly toward the longitudinal axis LL. In addition, a distalportion 72 of the transmission shaft 66 may also include a plurality ofaxially extending splines 74 spaced around an outer wall of the distalportion 72 of the transmission shaft 66. The splines 74 may protrudeoutwardly from the outer wall of the distal portion 72 and away from thelongitudinal axis LL. In certain examples, the motor 14 can be operablydisconnected from the transmission assembly 20 by retracting thetransmission shaft 66 thereby disengaging the splines 74 from mattingengagement with the splines 70 of the motor coupling 62. Sucharrangement can be advantageous in allowing manual manipulation of thepower module 10, for example, if the motor 10 seizes during operation.

In use, the distal portion 72 of the transmission shaft 66 can bereceived within the hollow proximal portion 68 of the motor coupling 62to bring the splines 72 into mating engagement with the splines 74 suchthat the rotational motions generated by the motor 14 may be transmittedthrough the motor coupling 62 to the transmission shaft 66 when thesplines 72 and 74 are in mating engagement. The reader will appreciatethat the motor output shaft 64 can be adapted to work as a transmissionshaft thereby nullifying the need for a motor coupling.

Referring to FIGS. 3 and 4, the transmission assembly 20 may include atransmission member 76 configured to receive the rotational motionsgenerated by the motor 14 from the transmission shaft 66 and toselectively transmit such rotational motions to the first rotary drive22 or the second rotary drive 26. The transmission member 76 may beselectively movable along the longitudinal axis LL to a first position,a neutral position, and/or a second position, for example. In the firstposition, as illustrated in FIG. 5, the transmission member 76 may beoperably engaged with the first rotary drive 22 such that the rotationalmotions generated by the motor 14 may cause the first rotary drive 22 torotate thereby causing the first axial drive 24 to translate in aproximal direction or a distal direction depending on the direction ofrotation of the motor 14. In the second position, as illustrated in FIG.9, the transmission member 76 may be operably engaged with the secondrotary drive 26 such that the rotational motions generated by the motor14 may cause the second rotary drive 26 to rotate thereby causing thesecond axial drive 28 to translate in a proximal direction or a distaldirection depending on the direction of rotation of the motor 14.Furthermore, in the neutral position, as illustrated in FIG. 8, thetransmission member 76 may not be operably engaged with either the firstrotary drive 22 or the second rotary drive 26. The neutral positioncould be located along the longitudinal axis LL between the firstposition and the second position such that the transmission member 76can be slidably moved distally from the first position to the neutralposition and from the neutral position to the second position, forexample. The transmission member 76 can also be slidably movedproximally from the second position to the neutral position and from theneutral position to the first position, for example. Operablydisconnecting the motor 14 from the first rotary drive 22 and the secondrotary drive 26 by placing the transmission member 76 in the neutralposition may provide an advantage of permitting manual manipulation ofthe power module 10. For example, if the motor 14 seizes duringoperation, an operator may move the transmission member 76 to theneutral position and manually move the first rotary drive 22 and/or thesecond rotary drive 26 to a default position.

Referring to FIGS. 3 and 4, the transmission member 76 may comprise agear assembly 78 at a distal portion thereof, for example. The gearassembly 78 may include a distal facing gear portion 80 and a proximalfacing gear portion 82. In addition, the first rotary drive 22 mayinclude an annular wall 84 at a proximal portion thereof, as illustratedin FIG. 3, for example. The annular wall 84 may be disposed around thelongitudinal axis LL and may include a gear portion 86 protrudingdistally therefrom. The gear portion 86 may be configured to mesh withthe proximal facing gear portion 82 when the transmission member 76 isin the first position, as illustrated in FIG. 5. Furthermore, the secondrotary drive 26 may include an annular wall 88 at a proximal portionthereof, as illustrated in FIG. 4, for example. The annular wall 88 maybe disposed around the longitudinal axis LL and may include a gearportion 90 protruding proximally therefrom, as illustrated in FIG. 4.The gear portion 90 may be configured to mesh with the distal facinggear portion 80 of the when the transmission member 76 is in the secondposition, as illustrated in FIG. 9.

As described above, the transmission member 76 can be selectivelyaxially movable among the first position, the neutral position, and thesecond position. To maintain operable engagement with the transmissionshaft 66 in these positions, the transmission member 76 may comprise ahollow inner wall 92 (See FIG. 3) which can be substantially cylindricalin shape and can be configured to slidably receive the transmissionshaft 66 which can be keyed to allow rotary coupling with thetransmission member 76 such that rotational forces may be coupled fromthe shaft 66 to the transmission member 76. This arrangement permits thetransmission member 76 to slide axially between the first, neutral andsecond positions while remaining in operable engagement with thetransmission shaft 66.

Referring to FIGS. 3-5, the transmission member 76 can be operablyengaged with an actuator 96 via a connector 98 such that the actuator 96may be actuated to selectively translate the transmission member 76among the first, the neutral, and the second positions. In certaincircumstances, the actuator 96 may comprise a rotatable nut 97 which canbe in threaded engagement with a proximal portion of the connector 98,as illustrated in FIG. 3. Furthermore, the connector 98 may be operablycoupled with the transmission member 76 in such a manner that allows thetransmission member 76 to be freely rotated relative to the connector 98while permitting the connector 98 to transmit axial motions to thetransmission member 76 to move the transmission member 76 axially amongthe first, neutral, and second positions. For example, the connector 98may include a hollow distal portion 100 which may comprise an annularwall 102 extending around the longitudinal axis LL and comprising anannular recess 104, as illustrated in FIG. 5. In addition, thetransmission member 76 may include an annular flange 106 protruding froma proximal portion thereof away from the longitudinal axis LL andextending around the longitudinal axis LL, as illustrated in FIG. 3. Therecess 104 may be configured to receive the annular flange 106 therein,as illustrated in FIG. 5. The annular flange 106 may be freely rotatedrelative to the recess 104 thereby allowing the transmission member 76to be freely rotated relative to the connector 98. However, the annularflange 106 may be constrained from axial motion relative to the recess104 which may permit the connector 98 to transmit axial motions to thetransmission member 76.

Further to the above, as illustrated in FIGS. 7 and 8, the actuator 96may be rotated in a first direction, for example in a clockwisedirection, to cause the connector 98, which is in threaded engagementwith the actuator 96, to be translated in the distal direction, forexample, which may cause the transmission member 76 to be translateddistally from the first position, as illustrated in FIG. 5, to theneutral, position, as illustrated in FIG. 8. In result, the proximalfacing gear portion 80 of the gear assembly 78 may be translateddistally from the first position into the neutral position and out ofmeshing engagement with the gear portion 86 of the first rotary drive22, as illustrated in FIG. 8. In addition, referring to FIGS. 8 and 9,the actuator 96 may be further rotated in the first direction to causethe connector 98 to be translated further in the distal direction. Suchadditional movement of the connector 98 may result in additional distalmovement of the transmission member 76 from the neutral position, asillustrated in FIG. 8, to the second position, as illustrated in FIG. 9.Such movement of the transmission member 76 may cause the distal facinggear portion 80 to move into meshing engagement with the gear portion 90of the second rotary drive 26.

To return the transmission member 76 from the second position to theneutral position, the actuator 96 can be rotated in a second directionopposite the first direction, for example in a counterclockwisedirection, which may cause the connector 98 to be translated in theproximal direction thereby moving the transmission member 76 proximallyto the neutral position and out of meshing engagement with the gearportion 90 of the second rotary drive 26. In addition, to return thetransmission member 76 to the first position, the actuator 96 can befurther rotated second direction which may cause the connector 98 to betranslated further proximally thereby moving the transmission member 76further proximally to the second position and into meshing engagementwith the gear portion 86 of the first rotary drive 22.

Referring to FIGS. 5-7, as described above in greater detail, the firstrotary drive 22 can be housed in the chamber 12A of the housing 12. Incertain circumstances, to minimize friction between the first rotarydrive 22 and the chamber 12A when the first rotary drive 22 is rotatedin response to rotational motions generated by the motor 14, theproximal wall 50 and the distal wall 52 of the chamber 12A, whichmechanically constrain the first rotary drive 22 from axial translation,may be sufficiently spaced apart to provide clearance for the rotationthe first rotary drive 22. For example, as illustrated in FIG. 5, aclearance distance C is shown between the distal wall 52 and the firstrotary drive 22. Accordingly, in such circumstances, the first rotarydrive 22 can be slightly axially translated between the proximal wall 50and the distal 52 within the permitted clearance distance C. However,the clearance distance C may not be so great as to permit the gearportion 86 of the first rotary drive 22 to be unintentionallydisplaceable out of meshing engagement with the transmission member 76during operation.

Further to the above, a biasing member 103 such as, for example, a coilspring may be positioned between the housing 12 and the connector 98, asillustrated in FIG. 5. The biasing member 103 may exert a biasing forceagainst the connector 98 in a proximal direction which may betransmitted to the transmission member 76 and, in turn, to the firstrotary drive 22 when engaged with the transmission member 76 in thefirst position. The biasing force of the biasing member 103 may ensurethat the gear portion 86 of the first rotary drive 22 and thetransmission member 76 remain meshing engagement during operation whilethe transmission member 76 is in the first position. In suchcircumstances, the actuator 98 must overcome the biasing force exertedby the biasing member 103 against the connector 98 in order tosuccessfully translate the connector 98 and, in turn, the transmission76 distally, for example, to the neutral position which may cause thebiasing member to be compressed, as illustrated in FIG. 8.

As illustrated in FIG. 5, in at least one form, the motor 14 can beaffixed to the housing 12. For example, as illustrated in FIG. 5, adistal portion 107 of the motor 14 may be fixedly coupled to a distalportion 108 of the chamber 12B, for example, via screws or othersuitable mechanical fasteners 110. Other means for fixing the motor 14to the housing 12 are contemplated by the present disclosure. Inaddition, the second rotary drive 26 may be rotatably coupled to thedistal portion 108 of the chamber 12B which mechanically constrain thesecond rotary drive 26 from axial movement. For example, a distal flange112 may extend around and protrude from a distal portion of the secondrotary drive 26, as illustrated in FIG. 5. The distal flange 112 can berotatably supported and mechanically constrained from axial movementwithin the distal portion 108 of the chamber 12B.

Referring now to FIG. 11, an exemplary surgical instrument 200, whichcan be used with the power module 10, is illustrated. In at least oneform, the surgical instrument 200 may include a handle 203, a shaft 204,and an end effector 202 which can be rotated relative to the shaft 204about the longitudinal axis LL. The end effector 202 is configured toact as an endocutter for clamping, severing and stapling tissue.However, it will be appreciated that various alternative embodiments mayinclude end effectors that are configured to act as other surgicaldevices including, for example, graspers, cutters, staplers, clipappliers, access devices, drug/gene therapy delivery devices,ultrasound, RF, and/or laser energy devices, etc. See, for example, U.S.Pat. No. 8,322,455, entitled “MANUALLY DRIVEN SURGICAL CUTTING ANDFASTENING INSTRUMENT”, the entire disclosure of which is herebyincorporated by reference herein.

Further to the above, still referring to FIG. 11, the handle 203 of theinstrument 200 may include a trigger 214 to actuate the end effector202. It will be appreciated that instruments having end effectorsdirected to different surgical tasks may have different numbers or typesof triggers or other suitable controls for operating an end effector.The end effector 202 is connected to the handle 203 by shaft 204. Itshould be appreciated that spatial terms such as vertical, horizontal,right, left etc., are given herein with reference to the figuresassuming that the longitudinal axis of the surgical instrument 200 isco-axial to the central axis of the shaft 204, with the trigger 214extending downwardly at an acute angle from the bottom of the handle203. In actual practice, however, the surgical instrument 200 may beoriented at various angles and as such these spatial terms are usedrelative to the surgical instrument 200 itself. Further, proximal isused to denote a perspective of a clinician who is behind the handle 203who places the end effector 202 distal, or away from him or herself.

Referring to FIGS. 11, the end effector 202 of the surgical instrument200 is depicted in a closed configuration, with a staple cartridge 250positioned within an elongate channel 252. On a lower surface of ananvil 256, a plurality of staple forming pockets may be arrayed tocorrespond to a plurality of staple cavities 254 including upwardlyfacing apertures in an upper surface of the staple cartridge 250. Aknife bar 258 (See FIG. 12) can be advanced through the cartridge 250 tocut tissue captured between the anvil 256 and the staple cartridge 250.The staple cartridge 250 can include a molded cartridge body 260 thatcan hold a plurality of staples (not shown) which may rest upon stapledrivers (not shown) within the staple cavities 254. A wedge sled (notshown) can be driven distally by I-beam 262, sliding upon a cartridgetray (not shown) that holds together the various components of thereplaceable staple cartridge 250. The wedge sled can upwardly cam thestaple drivers to force out the staples into deforming contact with theanvil 256 while the knife 258 severs clamped tissue. See, for example,U.S. patent application Ser. No. 13/803,130, entitled “DRIVE TRAINCONTROL ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS”, filed Mar. 14,2013, now U.S. Pat. No. 9,351,727, the entire disclosure of which ishereby incorporated by reference herein.

Referring to FIGS. 11 and 12, the elongate channel 252 can be coupled tothe handle 203 by means of a spine assembly 206 that may include aproximal spine section 218 and a distal spine section 216 which can berotatably supported relative to the proximal spine section 218. Theelongate channel 252 may be coupled to the distal spine section 218 andmay include anvil cam slots that may pivotally receive a correspondinganvil pivot on the anvil 256. In addition, a closure sleeve 208 may bereceived over the spine assembly 206 and may include a distallypresented tab 210 that engages an anvil closure tab on the anvil 256 tothereby effect opening and closing of the anvil 256 by axially movingthe sleeve 208 along the longitudinal axis LL and relative to the spineassembly 206. Furthermore, the sleeve 208 can be rotatably coupled tothe distal spine section 218 such that the rotation of the sleeve 208may effect a rotation of the distal spine section 218 and, in turn, theend effector 202 relative to the proximal spine section 218.

Further to the above, the sleeve 208 may include an annular flange 220extending around the longitudinal axis LL and protruding from a proximalportion of the sleeve 208, as illustrated in FIG. 12. Furthermore, theflange 220 may be rotatably supported in a slot 222 in a carriage member224 within the handle 203 such that the sleeve 208 may be freely rotatedrelative to the carriage member 224 and such that the sleeve 208 may beadvanced distally and retracted proximally along the longitudinal axisLL by advancing and retracting the carriage member 224. In addition, thecarriage member 224 may be coupled to the first axial drive 26, asillustrated in FIG. 13. Accordingly, rotation of the first rotary drive22 in a first direction, for example a clockwise direction, may causethe first axial drive 24 to translate distally, as described in greaterdetail above, which may cause the carriage member 224 and, in turn, thesleeve member 208 to translate distally. In result, the tab 210 of thesleeve 208 may engage the closure tab on the anvil 256 and apply acamming force to the anvil 256 thereby transitioning the end effector202 from an open configuration to the closed configuration. In certaincircumstances, a biasing member (not shown) can be used to maintain theanvil 256 in the open configuration. In such circumstances, the cammingforce applied by the tab 210 to the anvil 256 as the sleeve 208 isadvanced distally must overcome the biasing force of the biasing memberto bring the end effector 202 to the closed configuration. Also in suchcircumstances, the retraction of the sleeve 208 proximally by rotatingthe first rotary drive 22 in a second direction opposite the firstdirection may release the anvil 256 thereby allowing the biasing memberto move the anvil 256 to the open configuration. The reader willappreciate that other arrangements can be utilized to motivate the anvil256 to move between the closed configuration and the open configurationin response to the axial motions of the first axial drive 24.

As described above in greater detail, the second axial drive 28 can beadvanced distally and retracted proximally along the longitudinal axisLL in response to rotational motions generated by the motor 14.Referring to FIGS. 13 and 14, the I-beam 262 can be operably coupled tothe second axial drive 28 such that the I-beam 262 can be advanceddistally to deploy the staples from the staple cartridge 250 and/or cuttissue captured between the anvil 256 and the staple cartridge 250 whenthe second axial drive 28 is advanced distally and can be retractedproximally when the second axial drive 28 is retracted proximally.

Referring again to FIG. 13, the second axial drive 28 can be coupled toa firing drive 226 which can be slidably disposed within the proximalspline section 218. In addition, the I-beam 262 can be disposed at adistal portion of a firing bar 230 which can be operably coupled to thefiring drive 226 via a connector member 228, wherein the firing bar 230may be slidably disposed within the distal spline section 216.Furthermore, the firing drive 226 may comprise a tapered distal portion227 which can be received within a hollow proximal portion of theconnector member 228. For example, the tapered distal portion 227 can bedesigned for snapping engagement with the hollow proximal portion of theconnector 227 such that the connector member 228 can be rotated aboutthe longitudinal axis LL relative to the firing drive 226. Furthermore,the connector member 228 may include a slit 231 at a distal portionthereof which may be configured to frictionally receive an upstandingtab 229 disposed at a proximal portion of the firing bar 230. Thisexemplary arrangement permits axial motions to be transmitted from thesecond axial drive 28 to the I-beam 262. For example, the second axialdrive 28 can be extended distally along the longitudinal axis LL byrotating the second rotary drive 26 in a first direction, for example ina clockwise direction. In turn, the firing drive 226, the connectormember 228, and the firing bar 230 may be advanced distally, in responseto the advancement of the second axial drive 28, which may cause theI-beam 262 to deploy the staples from the staple cartridge 250 and/orcut tissue captured between the anvil 256 and the staple cartridge 250,for example. In addition, the second axial drive 28 can be retractedproximally along the longitudinal axis LL by rotating the second rotarydrive 26 in a second direction opposite the first direction, for examplein a counterclockwise direction. In turn, the firing drive 226, theconnector member 228, and the firing bar 230 may be retractedproximally, in response to the retraction of the second axial drive 28,which may cause the I-beam 262 to be retracted to a default position.

Referring primarily to FIG. 13, the power module 10 may be integral withthe handle 203 of the surgical instrument 200. For example, asillustrated in FIG. 13, the power module 10 can be disposed in a bodyportion 207 of the handle 203 along the longitudinal axis LL. In certainexamples, as illustrated in FIG. 13, the actuator 96 may be operablycoupled to a rotatable knob 234 which can be rotated by an operator torotate the actuator 96 and, in turn, move the transmission member 76among the first position, the neutral position, and the second position,as described above. Furthermore, a battery 236 (or “power source” or“power pack”), such as a Li ion battery, for example, may be provided ina pistol grip portion 238 of the handle 203 adjacent to the motor 14wherein the battery can supply electric power to the motor 14 via acontrol circuit 240 (See FIG. 14). According to various embodiments, anumber of battery cells connected in series may be used as the powersource to power the motor 14. In addition, the power source may bereplaceable and/or rechargeable. In still other embodiments, the powersource may comprise a source of alternate current available in thesurgical suite.

Referring to FIG. 14, the control circuit 240 may comprise amicrocontroller 242 which may generally comprise a memory 244 and amicroprocessor 246 (“processor”). The processor 246 may be operablycoupled to a motor driver 248 which can be configured to control theposition, direction of rotation, and velocity of the motor 14. Inaddition, the control circuit 240 may be operably coupled to a varietyof sensors which may, for example, detect the position of the firstrotary drive 22, the first axial drive 24, the second rotary drive 26,the second axial drive 28, the I-beam 262, the sleeve 208, thetransmission member 76 and/or the anvil 256. The detected position(s)can be communicated to the processor 246. See, for example, U.S. patentapplication Ser. No. 13/803,130, entitled “DRIVE TRAIN CONTROLARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS”, filed Mar. 14, 2013, nowU.S. Pat. No. 9,351,727, the entire disclosure of which is herebyincorporated by reference herein.

In certain circumstances, the microcontroller 242 may be an LM4F230H5QR, available from Texas Instruments, for example. In oneembodiment, the Texas Instruments LM4F230H5QR is an ARM Cortex-M4FProcessor Core comprising on-chip memory 7006 of 256 KB single-cycleflash memory, or other non-volatile memory, up to 40 MHz, a prefetchbuffer to improve performance above 40 MHz, a 32 KB single-cycle serialrandom access memory (SRAM), internal read-only memory (ROM) loaded withStellarisWare software, 2 KB electrically erasable programmableread-only memory (EEPROM), two pulse width modulation (PWM) modules,with a total of 16 advanced PWM outputs for motion and energyapplications, two quadrature encoder inputs (QEI) analog, two 12-bitAnalog-to-Digital Converters (ADC) with 12 analog input channels, amongother features that are readily available for the product datasheet.Other microcontrollers may be readily substituted for use in the controlcircuit 240. Accordingly, the present disclosure should not be limitedin this context.

In certain circumstances, the driver 248 may be a A3941 available fromAllegro Microsystems, Inc. The A3941 driver 248 can be a full-bridgecontroller for use with external N-channel power metal oxidesemiconductor field effect transistors (MOSFETs) specifically designedfor inductive loads, such as brush DC motors. The driver 248 comprises aunique charge pump regulator that provides full (>10 V) gate drive forbattery voltages down to 7 V and allows the A3941 to operate with areduced gate drive, down to 5.5 V. A bootstrap capacitor may be employedto provide the above-battery supply voltage required for N-channelMOSFETs. An internal charge pump for the high-side drive may allow DC(100% duty cycle) operation. The full bridge can be driven in fast orslow decay modes using diode or synchronous rectification. In the slowdecay mode, current recirculation can be through the high-side or thelowside FETs. The power FETs are protected from shoot-through byresistor adjustable dead time. Integrated diagnostics provide indicationof undervoltage, overtemperature, and power bridge faults, and can beconfigured to protect the power MOSFETs under most short circuitconditions. Other motor drivers may be readily substituted for use inthe motor control circuit 240. Accordingly, the present disclosureshould not be limited in this context.

In certain circumstances, a voltage polarity provided by the battery 236can operate the electric motor 14 in a clockwise direction wherein thevoltage polarity applied to the electric motor 14 by the battery 236 canbe reversed in order to operate the electric motor 14 in acounter-clockwise direction. The direction of rotation of the motor 14may determine the direction of axial motion of the first axial drive 24when the transmission member 76 is engaged with the first rotary drive22 and may determine the direction of axial motion of the second axialdrive 28 when the transmission member 76 is engaged with the secondrotary drive 24.

Referring to FIGS. 13 and 14, the trigger 214 can be movable between anunactuated position and an actuated position. In addition, the trigger214 can be operably coupled to a switch 270 which can be electricallycoupled to the microcontroller 242 via an electric circuit 272, asillustrated in FIG. 14. The switch 270 can be moved to open or close thecircuit 272 when the trigger 214 is moved between the actuated andunactuated positions. For example, the switch 270 can be mechanicallycoupled to the trigger 214 such that the switch 270 closes the circuit272 when the trigger 214 is in the actuated position and opens thecircuit 272 when the trigger 214 is in the unactuated position. In anyevent, the closing or opening of the circuit 272 may signal themicrocontroller 242 to activate the motor 14 to close or open the endeffector 202, as described above.

In certain circumstances, the trigger 214 may be biased in theunactuated position by a biasing member (not shown). In use, an operatorof the surgical instrument 200 may rotate the knob 234 to move thetransmission member 76 from the neutral position to the first positioninto coupling engagement with the first rotary drive 22. The operatormay then actuate the trigger 214 to cause the microcontroller 242, forexample by moving the switch 270 to close the circuit 272, to activatethe motor 14 to close the end effector 202. Upon releasing the trigger214, the biasing force of the biasing member may return the trigger 214to the unactuated position thereby moving the switch 270 to open thecircuit 272. A second actuation of the trigger 214 by the operator maycause the microcontroller 242 to activate the motor 14 to rotate in asecond direction opposite the first direction, for example acounterclockwise direction, to open the end effector 202.

As with the other forms described herein, the surgical instrument 200can also include sensors configured to detect the position of the firstaxial drive 24, direction in which the first axial drive 24 is beingmoved, the position of the second axial drive 28, and/or the directionin which the second axial drive 28 is being moved. In addition, thesurgical instrument 200 can also include sensors configured to detectthe position of the transmission member 76. All such information can becommunicated to the processor 246 and may be stored in the memory 244.

Further to the above, an operator may repeat the opening and closing ofthe end effector 202, as described above, until desired tissue iscaptured between the anvil 256 and the cartridge 250. The operator maythen rotate the knob 234 to move the transmission member 76 into thesecond position and into coupling engagement with the second rotarydrive 26. Upon actuating the trigger 214, the processor 246 may checkthe memory 244 for the positions of the first axial drive 24, secondaxial drive 28, and the transmission member 76 to conclude that the endeffector is closed and that the transmission member 76 is in the secondposition. As such, the microcontroller 242 may activate the motor 14 torotate in a first direction, for example a clockwise direction, toadvance the I-beam 262 to fasten and cut the captured tissue, asdescribed above. Upon a second actuation of the trigger 214, themicrocontroller 242 may activate the motor 14 to rotate in a seconddirection opposite the first direction, for example a counterclockwisedirection, to retract the I-beam 262 to a default position. To free thefastened tissue, the operator may actuate the trigger 214 to open theend effector 202. Upon receiving the signal from the circuit 272, asdescribed above, the microcontroller 242 may check the memory 244 forthe positions of the first axial drive 24, the second axial drive 28,and the transmission member 76. In response, the microcontroller 242 mayactivate the motor 14 to open the end effector 202, as described above.

Referring now to FIGS. 15 and 16, a handle 203′ is shown. The handle203′ is similar to the handle 203 in many respects and is configured foruse with a surgical instrument such as, for example, the surgicalinstrument 200 in a similar manner to the handle 203. In addition, thehandle 203′ includes a power module 10′ which is similar in manyrespects to the power module 10. The power 10′, however, is removablycouplable to the handle 203′. As such, the power module 10′ can be usedwith multiple surgical instruments. For example, upon completion of asurgical procedure, the operator may detach the power module 10′ fromthe handle 203′ of the surgical instrument 200 which can be disposed ofappropriately. The power module 10′ can then be resterilized, forexample, and used with a new surgical instrument 200 by inserting thepower module 10′ into the handle 203′ of the new surgical instrument200.

As illustrated in FIG. 15, the power module 10′ can be separably coupledto the handle 203′. For example, the first axial drive 22 can beseparably coupled to the firing drive 226 and the second axial drive 28can be separably coupled to the carriage member 224. For example, asillustrated in FIG. 16, dovetail joints 274 and 276 may separably couplethe first axial drive 22 to a proximal portion of the carriage member224 and the second axial drive 28 to a proximal portion of the firingdrive 226, respectively. Furthermore, the actuator 96 can be designedfor snapping engagement with the knob 234. In addition, the motor 14 ofthe power module 10′ and the driver 248 may be separably couplable toeach other via appropriate electrical contacts that provide anelectrical path therebetween. Furthermore, the handle 203′ may beconfigured to include a detachable outer shell which can be removed togive way for inserting and detaching a power module such as, forexample, the power module 10′ into operably engagement with the handle203′.

In certain examples, a power module for use with a surgical instrumentincludes an end effector, the power module comprising a first motionconversion assembly which comprises a first rotary drive and a firstaxial drive operably coupled to the first rotary drive. The power modulefurther comprises a second motion conversion assembly comprising asecond rotary drive and a second axial drive operably coupled to thesecond rotary drive. The power module further comprises a motorconfigured to generate at least one rotational motion to actuate the endeffector and a transmission assembly configured to selectively engagethe motor with the first rotary drive and the second rotary drive,wherein the motor is concentrically arranged with the first rotary driveand the second rotary drive.

In certain examples, a power module for use with a surgical instrumentincludes an end effector, the power module comprising a first motionconversion assembly which comprises a first rotary drive and a firstaxial drive operably coupled to the first rotary drive. The power modulefurther comprises a second motion conversion assembly comprising asecond rotary drive and a second axial drive operably coupled to thesecond rotary drive. The power module further comprises a motorconfigured to generate at least one rotational motion to actuate the endeffector, the motor defining an actuation axis and a transmissionassembly configured to selectively operably couple the motor to thefirst rotary drive and the second rotary drive, wherein the first rotarydrive is rotatable about the actuation axis in response to the at leastone rotational motion when the motor is operably coupled to the firstrotary drive, and wherein the second rotary drive is rotatable about theactuation axis in response to the at least one rotational motion whenthe motor is operably coupled to the second rotary drive.

In certain examples, a surgical instrument comprises a shaft, a housingextending proximally from the shaft, an end effector extending distallyfrom the shaft, and a power module at least partially positioned withinthe housing. The power module comprises a first rotary drive, a secondrotary drive, a motor configured to generate at least one rotationalmotion, the motor defining an actuation axis, and a transmissionassembly configured to selectively operably couple the motor to thefirst rotary drive and the second rotary drive, wherein the first rotarydrive is rotatable about the actuation axis in response to the at leastone rotational motion when the motor is operably coupled to the firstrotary drive, wherein the second rotary drive is rotatable about theactuation axis in response to the at least one rotational motion whenthe motor is operably coupled to the second rotary drive, and whereinthe motor extends along the actuation axis.

The reader will appreciate that the compact nature of the power modulesdescribed herein such as, for example, the power module 10 may beadvantageous for use in a surgical setting. These power modules can be asource for a plurality of reciprocating axial motions which may serve avariety of functions in a surgical instrument such as, for example, thesurgical instrument 200. In addition, the power modules described hereinsuch as, for example, the power module 10′ may possess the additionaladvantage of being available for use with multiple surgical instruments.The ability to retrieve, resterilize, and reuse the power module 10′ canprovide an advantageous cost saving.

Any patent, publication, or other disclosure material, in whole or inpart, that is said to be incorporated by reference herein isincorporated herein only to the extent that the incorporated materialsdoes not conflict with existing definitions, statements, or otherdisclosure material set forth in this disclosure. As such, and to theextent necessary, the disclosure as explicitly set forth hereinsupersedes any conflicting material incorporated herein by reference.Any material, or portion thereof, that is said to be incorporated byreference herein, but which conflicts with existing definitions,statements, or other disclosure material set forth herein will only beincorporated to the extent that no conflict arises between thatincorporated material and the existing disclosure material.

While this invention has been described as having exemplary designs, thepresent invention may be further modified within the spirit and scope ofthe disclosure. This application is therefore intended to cover anyvariations, uses, or adaptations of the invention using its generalprinciples. Further, this application is intended to cover suchdepartures from the present disclosure as come within known or customarypractice in the art to which this invention pertains.

What is claimed is:
 1. A surgical instrument including an end effectorand a power module, the power module comprising: a first motionconversion assembly, comprising: a first rotary drive; and a first axialdrive operably coupled to the first rotary drive; a second motionconversion assembly, comprising; a second rotary drive; and a secondaxial drive operably coupled to the second rotary drive; a motorconfigured to generate at least one rotational motion to actuate the endeffector, the motor defining an actuation axis; and a transmissionassembly configured to selectively operably couple the motor to thefirst rotary drive and the second rotary drive, wherein the first rotarydrive is rotatable about the actuation axis in response to the at leastone rotational motion when the motor is operably coupled to the firstrotary drive, and wherein the second rotary drive is rotatable about theactuation axis in response to the at least one rotational motion whenthe motor is operably coupled to the second rotary drive.
 2. Thesurgical instrument of claim 1, wherein the first axial drive is movablea first axial distance relative to the first rotary drive, wherein thesecond axial drive is movable a second axial distance relative to thesecond rotary drive, and wherein the first axial distance is differentfrom the second axial distance.
 3. The surgical instrument of claim 1,wherein the motor is positioned at least partially within the secondrotary drive.
 4. The surgical instrument of claim 1, wherein the secondrotary drive is positioned at least partially within the first rotarydrive.
 5. The surgical instrument of claim 1, wherein the first axialdrive and the second axial drive partially extend between the firstrotary drive and the second rotary drive.
 6. The surgical instrument ofclaim 1, wherein the transmission assembly includes a transmissionmember movable to a first position wherein the motor is operably coupledto the first rotary drive and a second position wherein the motor isoperably coupled to the second rotary drive.
 7. A surgical instrument,comprising: a shaft; a housing extending proximally from the shaft; anend effector extending distally from the shaft; and a power module atleast partially positioned within the housing, the power modulecomprising: a first rotary drive; a second rotary drive; a motorconfigured to generate at least one rotational motion, the motordefining an actuation axis; and a transmission assembly configured toselectively operably couple the motor to the first rotary drive and thesecond rotary drive, wherein the first rotary drive is rotatable aboutthe actuation axis in response to the at least one rotational motionwhen the motor is operably coupled to the first rotary drive, whereinthe second rotary drive is rotatable about the actuation axis inresponse to the at least one rotational motion when the motor isoperably coupled to the second rotary drive, and wherein the motorextends along the actuation axis.
 8. The surgical instrument of claim 7,wherein a first axial drive is movable a first distance relative to thefirst rotary drive, wherein a second axial drive is movable a seconddistance relative to the second rotary drive, and wherein the firstdistance is different from the second distance.
 9. The surgicalinstrument of claim 7, wherein the motor is positioned at leastpartially within the second rotary drive.
 10. The surgical instrument ofclaim 7, wherein the second rotary drive is positioned at leastpartially within the first rotary drive.
 11. The surgical instrument ofclaim 7, wherein the first rotary drive is threadedly engaged with afirst axial drive, and wherein the second rotary drive is threadedlyengaged with a second axial drive.
 12. The surgical instrument of claim7, wherein the transmission assembly includes a transmission membermovable to a first position wherein the motor is operably coupled to thefirst rotary drive and a second position wherein the motor is operablycoupled to the second rotary drive.
 13. The surgical instrument of claim12, wherein the transmission member is movable to a neutral position,wherein the motor is operably disconnected from the first rotary driveand the second rotary drive in the neutral position.
 14. The surgicalinstrument of claim 13, wherein the neutral position is located alongthe actuation axis between the first position and the second position.15. The surgical instrument of claim 7, wherein a first axial drive anda second axial drive partially extend between the first rotary drive andthe second rotary drive.
 16. The surgical instrument of claim 7, whereinthe transmission assembly includes a transmission shaft separablycouplable to the motor, and wherein the transmission shaft is movable tooperably disconnect the motor from the transmission assembly.